WO2020098670A1 - 自移动设备、自移动设备的报警模块及其报警方法 - Google Patents

自移动设备、自移动设备的报警模块及其报警方法 Download PDF

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Publication number
WO2020098670A1
WO2020098670A1 PCT/CN2019/117850 CN2019117850W WO2020098670A1 WO 2020098670 A1 WO2020098670 A1 WO 2020098670A1 CN 2019117850 W CN2019117850 W CN 2019117850W WO 2020098670 A1 WO2020098670 A1 WO 2020098670A1
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WO
WIPO (PCT)
Prior art keywords
mobile device
alarm
module
white mobile
alarm module
Prior art date
Application number
PCT/CN2019/117850
Other languages
English (en)
French (fr)
Inventor
何爱俊
张伟
兰彬财
Original Assignee
苏州宝时得电动工具有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 苏州宝时得电动工具有限公司 filed Critical 苏州宝时得电动工具有限公司
Priority to CN201980033452.0A priority Critical patent/CN112136160A/zh
Publication of WO2020098670A1 publication Critical patent/WO2020098670A1/zh

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/82—Other details
    • A01D34/828—Safety devices
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/02—Mechanical actuation
    • G08B13/14—Mechanical actuation by lifting or attempted removal of hand-portable articles
    • G08B13/1436—Mechanical actuation by lifting or attempted removal of hand-portable articles with motion detection
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/02—Alarms for ensuring the safety of persons
    • G08B21/0202—Child monitoring systems using a transmitter-receiver system carried by the parent and the child
    • G08B21/0261—System arrangements wherein the object is to detect trespassing over a fixed physical boundary, e.g. the end of a garden
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B3/00—Audible signalling systems; Audible personal calling systems
    • G08B3/10—Audible signalling systems; Audible personal calling systems using electric transmission; using electromagnetic transmission

Definitions

  • the invention relates to the technical field of alarming, in particular to a self-mobile device, an alarm module of the self-mobile device and an alarm method thereof.
  • the traditional smart lawn mower will send out some alarm signals whenever there are some abnormal conditions, but usually these alarm signals are single and not easy to be detected, which will cause the user to be unable to understand the time point and cause of the abnormal state in time, thus Cause serious consequences.
  • an alarm module from a mobile device including: a detection module for detecting an abnormal movement state of the mobile device; a control module, electrically connected to the detection module, for Judging at least partly whether the preset alarm trigger condition is satisfied according to the abnormal movement state of the mobile device; the sound generation part, when the control module judges that the abnormal motion state of the mobile device meets the preset alarm trigger condition, the sound generation part is controlled to issue an alarm signal
  • the alarm module includes an energy module to provide an energy source for the alarm module; the alarm module also includes a connection portion, and the alarm module can be detachably installed on the mobile device through the connection portion.
  • the alarm module further includes an amplification module, which can amplify the output voltage of the energy module, so as to provide the amplified voltage to the sound-emitting part.
  • the detection module has a first detection mode and a second detection mode.
  • the detection module works in the first detection mode; when the self-mobile device is in the off state, the detection module works in the first Two detection modes.
  • the detection module is configured to: detect lifting and / or tilting from the mobile device and detect the position of the mobile device relative to the work area; in the second detection mode, the detection module is It is configured to detect lifting and / or tilting from the mobile device.
  • the detection module includes: an acceleration sensor and / or a gyroscope and / or a hall sensor, which is used to detect lifting and / or tilting from the mobile device.
  • the detection module includes: a boundary line sensor and / or a satellite positioning module for detecting the position of the mobile device relative to the work area.
  • control module is configured to: determine that the mobile device is lifted, and / or determine that the tilt angle of the mobile device is greater than or equal to the first preset threshold, and / or determine that the mobile device is located outside the work area And / or determine that the number of tilts is greater than or equal to the second threshold within a preset time of the mobile device.
  • control module is configured to: monitor that the continuous working time of the sound-generating unit reaches a third preset threshold, and / or control the sound-generating unit to stop working when the sound-generating unit receives the shutdown signal.
  • the alarm module further includes an alarm signal storage unit, and the alarm signal storage unit is electrically connected to the control module, and is used for storing alarm signal playback content.
  • the alarm module further includes: a noise detection unit for detecting the noise decibel value of the surrounding working environment; a volume adjustment unit electrically connected to the noise detection unit and the control module for working according to the surroundings The noise decibel value of the environment and the preset noise value adjust the playback volume of the alarm signal.
  • a self-mobile device that moves and works in a work area.
  • the self-mobile device includes: a main body; an installation part, and the alarm module described above can cooperate with the installation part through the connection part, so that the alarm module Removably installed on mobile devices.
  • the self-mobile device includes a communication module capable of transmitting abnormal movement state information of the self-mobile device to a remote device.
  • An alarm method of an alarm module which is applied to the alarm module described above, characterized in that the method includes: installing the alarm module in a detachable manner on a self-mobile device; detecting an abnormal movement state of the self-mobile device; judging Whether the abnormal movement state of the mobile device satisfies the preset alarm triggering condition; the alarm module itself provides the energy source; when it is judged that the abnormal movement state of the mobile device meets the preset alarm triggering condition, an alarm signal is issued.
  • the method includes: amplifying the output voltage of the energy module, so as to provide the amplified voltage to the sound emitting part.
  • the detecting of the abnormal movement state of the mobile device includes: when the mobile device is in the power-on state, the detection mode detects the abnormal motion state of the mobile device in the first mode; when the mobile device is in the shutdown state, the detection mode The abnormal motion state from the mobile device is detected in the second mode.
  • the detecting mode detecting the abnormal motion state from the mobile device in the first mode includes: detecting lifting and / or tilting from the mobile device and detecting the position of the mobile device relative to the work area;
  • the mode detects the abnormal motion state from the mobile device includes: detecting lifting and / or tilting from the mobile device.
  • the detection of the lifting and / or tilting from the mobile device includes: detecting the lifting and / or tilting from the mobile device through an acceleration sensor and / or a gyroscope and / or a Hall sensor.
  • the detecting the position of the mobile device relative to the working area includes: detecting the position of the mobile device relative to the working area through a boundary line sensor and / or a satellite positioning module.
  • the judging whether the state of the self-mobile device satisfies the preset alarm triggering condition includes: judging that the self-mobile device is lifted, and / or judging that the tilt angle of the self-mobile device is greater than or equal to the first preset threshold, and / or judging The self-mobile device is located outside the working area, and / or it is determined that the number of tilts within a preset time of the self-mobile device is greater than or equal to the second preset threshold.
  • the alarm method further includes: monitoring the continuous working time of the sound-generating unit to reach a third preset threshold, and / or stopping the alarm when the sound-generating unit receives the shutdown signal.
  • the alarm method further includes: pre-storing the content of the alarm signal playback, and playing the pre-stored content of the alarm signal playback during the alarm.
  • the alarm method further includes: detecting the noise decibel value of the surrounding working environment; adjusting the volume of the alarm signal according to the noise decibel value of the surrounding working environment.
  • the above alarm module, self-mobile device and alarm method by setting a detachable alarm module, can enable the self-mobile device to install an alarm module to enhance the warning effect of the self-mobile device; and, the alarm module can detect whether the alarm is triggered by itself Conditions and alarm sound, so it can work independently and can be selectively installed on the mobile device in need, to optimize the alarm effect of the mobile device.
  • the alarm module adopts an amplification module, so that the sound-producing part can emit a larger volume, and the user can find abnormal movement information from the mobile device in time, and then inform the user of the abnormal movement information through the communication module in time, so that the user can first Time to understand the occurrence of abnormal motion status, so as to avoid the serious consequences of loss and damage from mobile devices.
  • FIG. 1 is a working schematic diagram of a mobile device in an embodiment
  • FIG. 2 is a schematic diagram of an alarm module in an embodiment
  • FIG. 3 is a schematic diagram of an alarm module in an embodiment
  • FIG. 4 is a schematic diagram of installing an alarm module from a mobile device in an embodiment
  • 5 is a schematic diagram of the separation of the mobile device and the alarm module in an embodiment
  • FIG. 6 is a schematic flowchart of an alarm method of an alarm module in an embodiment
  • FIG. 7 is a schematic flowchart of an alarm method of an alarm module in an embodiment
  • FIG. 8 is a schematic flowchart of an alarm method of an alarm module in an embodiment
  • an alarm module 200 for a mobile device is provided.
  • the self-mobile device 100 moves and works in a work area defined by a limit, wherein the self-mobile device 100 may be an intelligent lawn mower, an intelligent snow blower, or a sweeping robot that can automatically walk Equipment; the boundary of the working area can be formed by the boundary line, or the boundary line can not be laid, and the virtual boundary is formed by using the boundary positioning information; since the mobile device 100 can also use the camera, the capacitive grass identification sensor, the boundary line sensor, the satellite positioning module Etc. to identify the boundaries of the work area.
  • an alarm module 200 is provided.
  • the alarm module 200 includes: a detection module for detecting an abnormal movement state from the mobile device 100; a control module and the detection module 250 is electrically connected to determine whether the preset alarm trigger condition is satisfied according to the abnormal motion state of the mobile device 100; the sounding part 240, when the control module 230 determines that the abnormal motion status of the mobile device 100 meets the preset alarm trigger condition , Control the sounding part 240 to issue an alarm signal; the alarm module 200 further includes an energy module 210 to provide an energy source for the alarm module 200; a connection part 260, the alarm module 200 can be detachably installed on the mobile device through the connection part 260 100.
  • the self-mobile device 100 moves within the work area and performs work
  • the abnormal motion state is that the self-mobile device 100 moves outside the work area, or the mobile device 100 is lifted, or the mobile device 100 is moved Tilt, specifically, when it is determined that the tilt from the mobile device 100 is in an abnormal motion state, the tilt from the mobile device 100 needs to reach a certain threshold.
  • the sounding part 240 includes a buzzer or a speaker, the buzzer can emit a buzzing sound, and the speaker can emit a voice announcement.
  • the detection module 250 includes various sensors, such as an acceleration sensor, a gyroscope, and a boundary line sensor, or the detection module 250 includes a satellite positioning module, or the detection module 250 includes an acquisition module, which can acquire the detection result from the mobile device 100 .
  • the control module 230 includes an MCU for processing information input and outputting control signals.
  • the energy module 210 of the alarm module 200 is a battery, and the battery is built in the alarm module 200 to provide the alarm module 200 with energy required for working.
  • the battery built into the alarm module 200 can provide energy to the alarm module 200.
  • the mobile device 100 can also provide energy to the alarm module 200, and only the battery built into the alarm module 200 is used
  • the alarm module 200 is provided with energy, or the battery of the alarm module 200 is used as a backup power source to provide energy to the alarm module 200 only when energy cannot be obtained from the outside world.
  • the alarm module 200 includes a connecting portion 260, and the alarm module 200 is detachably mounted on the mobile device 100 through the connecting portion 260.
  • the connecting portion 260 is a groove, and the alarm module 200 passes through the groove
  • the alarm module 200 is plugged into the self-mobile device 100, and the connection part 260 is provided so that the alarm module 200 can be conveniently installed on or removed from the self-mobile device 100, which can be determined according to requirements Whether to install the alarm module 200 for the mobile device 100.
  • the alarm module 200 further includes a housing 270. All the above-mentioned components are disposed inside or on the surface of the housing 270, so that the alarm module 200 is a separate accessory and can be sold separately.
  • the alarm module 200 further includes an amplification module 220 that can amplify the output voltage of the energy module 210 to provide the amplified voltage to the sound generating part 240.
  • an amplification module 220 that can amplify the output voltage of the energy module 210 to provide the amplified voltage to the sound generating part 240.
  • a buzzer with a larger power is provided in this embodiment, and a larger input voltage is provided for it.
  • the amplified voltage of the battery is amplified by the amplifying module 220 to obtain the amplified voltage and provide it to the sound generating part 240, so that the sound generating part 240 can obtain a larger voltage to emit a larger alarm sound.
  • the amplifying module 220 includes a boosting circuit, and the output voltage of the energy module 210 is increased by the boosting circuit, so that the sound emitting part 240 can obtain a larger output voltage.
  • the boosting circuit includes a boost circuit.
  • the amplified voltage is 90-150V.
  • the volume of the alarm signal emitted by the sound-generating part 240 measured at a distance of 1 meter from the source is 60-115 decibels. Under this alarm signal, the user is more likely to hear The alarm signal sent from the mobile device 100 is processed in time.
  • the alarm module 200 may not include the amplification module 220.
  • the sound input part 240 may be directly provided with a larger input voltage, for example, by providing a larger voltage from the mobile device 100 or through the alarm module The 200 battery provides a larger voltage.
  • the detection module 250 has a first detection mode and a second detection mode.
  • the detection module 250 works in the first detection mode; when the self-mobile device 100 is in the off state, The detection module 250 works in the second detection mode.
  • the detection module 250 is configured to: detect lifting and / or tilting from the mobile device 100 and detect the position of the mobile device 100 relative to the work area; in the second detection mode, the detection module 250 is configured to detect lifting and / or tilting from mobile device 100.
  • the detection module 250 includes: an acceleration sensor and / or a gyroscope and / or a Hall sensor for detecting lifting and / or tilting from the mobile device 100, and the detection module 250 includes: a boundary line sensor And / or a satellite positioning module for detecting the position of the mobile device 100 relative to the work area.
  • the control module 230 is configured to: determine that the mobile device 100 is lifted, and / or determine that the tilt angle of the mobile device 100 is greater than or equal to the first preset threshold, and / or determine that the mobile device 100 is located Outside the work area, and / or determined that the number of tilts within a preset time since the mobile device 100 is greater than or equal to the second threshold.
  • the control module 230 is further configured to: monitor that the continuous working duration of the sound-generating part 240 reaches a third preset threshold, and / or control the sound-generating part 240 to stop working when the sound-generating part 240 receives the shutdown signal.
  • the detection module 250 can detect the lifting and / or tilting of the mobile device 100 and the position of the mobile device 100 relative to the work area.
  • the alarm module 200 includes the detection module 250, which is detected by the alarm module 200 The module 250 detects the lift, tilt, and position of the mobile device 100 relative to the work area.
  • the detection module 250 may also determine the location of the mobile device 100 by detecting the detection information from the mobile device 100.
  • the detection module 250 includes a lift detection sensor, such as a Hall sensor, to detect whether the self-mobile device 100 is lifted; the detection module 250 includes an acceleration sensor, and / or a gyroscope to detect the occurrence of the self-mobile device 100
  • the angle of tilt, the acceleration sensor and the gyroscope can be used to detect the tilt from the mobile device 100 or the acceleration sensor and the gyroscope can be combined to detect the tilt from the mobile device 100, when the two are combined to detect the tilt from the mobile device 100 , The accuracy of the detection angle is high.
  • the self-mobile device 100 includes sensors such as lift detection, tilt detection, and position detection of the self-mobile device 100 relative to the work area.
  • the detection module 250 of the alarm module 200 can detect the detection result of the self-mobile device 100 and obtain The detection result of the mobile device 100 is to be determined and processed by the control module 230.
  • the detection module 250 includes a boundary line sensor to detect the position relative to the working area.
  • the boundary line sensor includes a magnetic induction sensor for detecting the magnetic field generated by the current in the boundary line to determine the position of the mobile device 100 relative to the working area.
  • Location specifically, the detection module 250 includes a satellite positioning module, such as a GPS positioning module, obtains the positioning information of the working area boundary before the mobile device 100 starts working, and generates a virtual boundary line from the positioning information when the mobile device 100 works , Get its positioning information and get its position relative to the work area.
  • the detection module 250 may also detect position information determined from the mobile device 100 itself, and obtain the position of the mobile device 100 relative to the work area through the information.
  • the control module 230 is configured to determine that the mobile device 100 is lifted, and / or determine that the tilt angle of the mobile device 100 is greater than or equal to a first preset threshold.
  • the first preset threshold is 45 degrees to 90 Degree, preferably, the detection tilt angle is greater than or equal to 60 degrees.
  • the mobile device 100 such as an intelligent lawnmower
  • the slope processed by the intelligent lawnmower is usually less than 45 degrees, therefore, a tilt angle of more than 45 degrees is likely to indicate that the intelligent lawnmower is in an abnormal motion state, for example, it is picked up artificially.
  • the sound generating unit 240 needs to issue an alarm signal to remind the user to prevent the machine Stolen.
  • the control module 230 is configured to determine that the number of tilts in the preset time from the mobile device 100 is greater than or equal to the second preset threshold.
  • the second preset threshold is 3-6 times.
  • the second preset threshold is set as 4 times, when it is detected that the number of times the mobile device 100 is lifted is greater than or equal to 4 times within one minute, it is confirmed that the preset alarm condition is satisfied.
  • the Hall sensor is a magnetic field sensor made according to the Hall effect.
  • the Hall sensor is set in pairs with a magnetic object.
  • the Hall sensor and the magnetic object can be set separately From the surface of the housing of the mobile device 100 and the inside of the housing, when the mobile device 100 is lifted, the Hall sensor can sensitively detect the distance change between the Hall sensor and the magnetic object, thereby detecting the abnormality of the device being lifted Status;
  • the lift detection sensor is a contact sensor that can detect the abnormal state of the device being touched or lifted;
  • the boundary line sensor is a sensor used to recognize the boundary line signal, which can be distinguished from the current mobile device 100 Whether the location is inside or outside the boundary line, so that the abnormal state from the mobile device 100 away from the working boundary line can be detected;
  • the satellite positioning module can identify the current position information from the mobile device 100 through the coordinate information in the working area, Thus, an abnormal movement state from the mobile device 100 away from the work area is detected.
  • the control module 230 is also used to control the sound emitting part 240 to stop working when a preset condition is met. Specifically, the control module 230 is configured to: monitor the sound emitting part 240 to continue working for a third preset threshold, and / or sound The unit 240 controls the sounding unit 240 to stop working when receiving the shutdown signal. Specifically, when the mobile device 100 is turned on, the control module 230 monitors the sounder 240 to continue to alarm for more than 1 minute, and controls the sounder 240 to stop working.
  • the control module 230 monitors the sounder 240 to continue If the alarm exceeds 1 minute, the sound generating part 240 is controlled to stop the alarm; when the mobile device 100 is turned off, the control module 230 monitors the sound generating part 240 for more than 30 seconds and controls the sound generating part 240 to stop the alarm.
  • the alarm module 200 further includes an alarm signal storage unit, wherein the alarm signal storage unit is electrically connected to the control module 230 and is used to store alarm signal playback content.
  • the control module 230 may select the content of the alarm signal stored in the alarm signal storage unit according to the content of the abnormal motion state information, and then process the selected content of the alarm signal through the alarm module 200 and play it to issue an alarm signal .
  • the content of the alarm signal stored in the alarm signal storage unit may be a regular siren signal content, and may be a voice alarm content in Chinese, English, or other languages.
  • the alarm module 200 further includes a noise detection unit and a volume adjustment unit.
  • the noise detection unit and the volume adjustment unit are electrically connected, and the volume adjustment unit and the control module 230 are electrically connected.
  • the noise detection unit may detect the noise decibel value in the surrounding working environment before sending out the alarm signal, and feed back the detected noise decibel value to the volume adjustment unit, and the volume adjustment unit may be based on the noise decibel value and preset at the volume The preset noise value in the adjustment unit is compared, and the playback volume of the voice is automatically adjusted according to the detected noise decibel value.
  • control module 230 can select the alarm signal stored in the voice storage unit according to the content of the abnormal working information Play the content, and then play the selected alarm signal through the voice amplifier and sound generator to send out the alarm signal.
  • the volume of the alarm signal from the sound generating device is between 65-110 dB.
  • the present invention also provides a self-mobile device 100, such as an intelligent lawn mower.
  • the intelligent lawn mower includes an installation portion 130.
  • the foregoing alarm module 200 can be connected to the installation portion through the connection portion 260 130 cooperates so that the alarm module 200 is detachably installed on the mobile device 100.
  • the self-mobile device 100 includes a housing 120, a driving module, a walking module 110, and a communication module, wherein the communication module 150 is installed inside the housing 120, specifically, when the intelligent lawnmower determines that it is in an abnormal motion state
  • the alarm module 200 issues an alarm signal, and at the same time, the communication module can send the abnormal motion state information from the mobile device 100 to the user terminal, so that the user can know the motion state of the mobile device 100 in time and take corresponding measures in time.
  • the communication module may be a wireless communication module, such as a WIFI module, a mobile communication module, or other modules that can perform wireless communication with user equipment.
  • the self-mobile device 100 includes a controller that can process various information received from the mobile device 100 and perform corresponding control functions.
  • the self-mobile device 100 further includes a positioning module, wherein the positioning module is electrically connected to the controller. Specifically, the positioning module may receive the positioning signal in real time, and obtain coordinates from the current location of the mobile device 100 or a coordinate area composed of multiple coordinates.
  • the positioning module can send the current position information at the time of the alarm signal to the controller.
  • the controller After the controller obtains the positioning information, it can send this The positioning information is saved, and the positioning information is sent to the user terminal through the communication module, so that the user can know the specific location of the mobile device 100 when an abnormal condition occurs within the first time. Further, the controller can also automatically determine the region where the mobile device 100 is currently located according to the positioning information, and then confirm the official language of the region, and select and store in the voice storage unit according to the official language of the region and the content of the abnormal work information The content within the voice broadcast, so as to realize the automatic conversion of the alarm language.
  • the positioning module may be a satellite positioning module.
  • the positioning module includes a GPS positioning module, a high-precision GPS positioning module, a UWB positioning module, an inertial navigation module, an electronic map, and the like.
  • the positioning module can recognize the current position information when the alarm signal is sent from the mobile device 100 through the coordinate information in the working area.
  • the coordinate information may be the absolute coordinate values of the object on the earth allocated by the satellite positioning system, or the relative coordinate values of the coordinate system built in the work area by itself.
  • a method for alarming from a mobile device 100 is provided. Referring to FIG. 6, the method is applied to the alarm module 200 in FIG. 2 as an example for description, including the following steps:
  • the alarm module 200 is detachably installed on the mobile device 100;
  • the alarm module 200 includes a connection portion 260
  • the self-mobile device 100 includes an installation portion 130.
  • the installation portion 130 and the connection portion 260 cooperate to enable the alarm module 200 to be detachably installed on the self-mobile device 100.
  • the connection part 260 is a groove structure
  • the connection structure of the alarm module 200 and the self-mobile device 100 is a plug-in structure.
  • the installation part 130 and the connection part 260 respectively include lines, and the two are connected for information exchange.
  • the alarm module can at least partly judge whether an alarm signal is issued based on the information, and the detection information of the alarm module can also be transmitted to the self-mobile device. You can consider your own detection information and the detection information of the alarm module to determine whether to perform the corresponding operation.
  • the self-mobile device 100 can detect the working state of the self-mobile device 100 in real time through the detection module 250.
  • the working state of the self-mobile device 100 includes a normal state and an abnormal motion state, where the abnormal state of the self-mobile device 100 includes but is not limited to the following Situation: Since the mobile device 100 is lifted, the mobile device 100 is located outside the work area, and the mobile device 100 is tilted.
  • the detection of the abnormal movement state of the mobile device 100 may be completed by a detection device loaded by the mobile device.
  • the alarm module 200 detects the information detected by the mobile device 100; or, the abnormal movement state of the mobile device 100 passes the alarm module. The detection device of 200 is completed.
  • control module 230 processes the detected abnormal motion state to determine whether it meets the preset alarm triggering condition.
  • control module 230 is an MCU, which has a preset alarm trigger condition built in, and compares the currently detected abnormal motion state with the preset alarm trigger condition to determine whether the preset alarm trigger condition is satisfied.
  • the alarm module 200 provides its own energy source
  • the alarm module 200 includes an energy module 210.
  • the energy module 210 of the alarm module 200 is a battery.
  • the battery is built in the alarm module 200 to provide the alarm module 200 with energy required for operation.
  • the battery built in the alarm module 200 can provide energy to the alarm module 200.
  • the mobile device 100 can also provide energy to the alarm module 200, and only the battery built in the alarm module 200 is used
  • the alarm module 200 is provided with energy, or the battery of the alarm module 200 is used as a backup power source to provide energy to the alarm module 200 only when energy cannot be obtained from the outside world.
  • control module 230 processes the abnormal motion state information, and when it is determined that it meets the preset alarm triggering condition, controls the sound emitting part 240 to issue an alarm signal.
  • the abnormal movement state information from the mobile device 100 is detected by the detection module 250 in real time, so that the control module 230 can find the abnormal movement state information from the mobile device 100 in time, and then notify the user of the abnormal movement state information in time.
  • the user can understand the time point and cause of the abnormal motion state at the first time, thereby avoiding the serious consequences such as loss and damage from the mobile device 100.
  • the alarm method may further include the following steps:
  • the abnormal motion state information from the mobile device 100 is sent to the user terminal.
  • the self-mobile device 100 can send the generated abnormal motion state information to the user terminal through the communication module while sending out the alarm signal, so that the user can know the abnormal motion state of the self-mobile device 100 in time and take corresponding measures in time.
  • the communication module may be a wireless communication module, such as a WIFI module, a mobile communication module, or other modules that can perform wireless communication with user equipment.
  • an alarm signal of 65-110 decibels is issued based on the abnormal motion state information from the mobile device 100, including the following steps: determining the content of the alarm signal playback according to the abnormal motion information from the mobile device 100. Specifically, according to the abnormal motion state information generated by the control module 230, the appropriate voice playback content is selected from the voice storage unit, and then the selected alarm signal playback content is amplified and played out through the sounding unit 240 to issue 65- 110 dB alarm signal.
  • the alarm signal playback content stored in the alarm signal storage unit may be regular siren signal content, and may be voice alarm content in Chinese, English, or other languages.
  • the voltage is amplified by the amplifying module 220, so that the sound generating part 240 emits a loud alarm buzzer signal.
  • the alarm method may further include the following steps:
  • S6 Monitor the continuous working time of the sound-generating unit to reach the third preset threshold, and / or stop the alarm when the sound-generating unit receives the shutdown signal.
  • the sound-generating part when the sound-generating part starts to issue an alarm signal, it monitors the duration of the sound-generating part's continuous operation, and at the same time, monitors whether a shutdown signal is received, and turns off the alarm signal when the working duration meets the third preset threshold, or Stop the alarm when the signal is on, or stop the alarm when the working duration meets the third preset threshold condition and the sounder receives the shutdown signal.
  • the user can send a shutdown signal through a remote device, such as a smartphone, tablet computer, or laptop computer.
  • the alarm method may further include the following steps:
  • the self-mobile device 100 can detect the noise decibel value in the surrounding working environment through the noise detection unit.
  • the detection of the noise decibel value may be real-time, or may be determined according to the control signal sent by the control module 230.
  • the volume adjustment unit of the mobile device 100 can compare the noise decibel value detected by the noise detection unit with the preset noise value preset in the volume adjustment unit, and automatically adjust the playback of the alarm signal according to the noise level Volume, where the playback volume of the alarm signal is between 65-110 dB.
  • the alarm method may further include the following steps:
  • the unlock password obtained from the mobile device 100.
  • the user may send the unlock password to the self-mobile device 100 through the user terminal or directly input the unlock password manually on the self-mobile device 100 through the operation interface.
  • the self-mobile device 100 may compare the obtained unlock password with the unlock password pre-stored in the mobile device 100 to determine whether the obtained unlock password is consistent with the preset unlock password.
  • the user can directly control the working state of the alarm signal, that is, control the alarm signal to stop or continue, this setting can make the safety of the mobile device 100 more Guarantee.
  • the alarm method from the mobile device 100 may further include the following steps:
  • the communication module from the mobile device 100 may receive the control information sent by the user terminal in real time, or may receive the control information returned by the user terminal within a period of time from the abnormal working information sent from the mobile device 100.
  • the mobile device 100 is controlled to perform one or more operations of adjusting the volume of the alarm signal playback, changing the content of the alarm signal playback, changing the language of the alarm signal playback, and turning off the alarm signal playback.
  • control information returned by the user terminal includes but is not limited to adjusting the volume of the alarm signal playback, changing the content of the alarm signal playback, changing the language of the alarm signal playback, turning off the alarm signal playback, etc.
  • control module 230 receives After the control information, the corresponding operation will be performed according to the content of the control information to achieve remote control from the mobile device 100.
  • the alarm method may further include the following steps:
  • the mobile device 100 can obtain the current position information at the time when it sends an alarm signal through the positioning module, where the positioning module may be one or more of a GPS module, a DGPS module, a UWB module, an inertial navigation module, and an electronic map
  • the current position information may be the absolute coordinate values of the object on the earth allocated by the satellite positioning system, or the relative coordinate values of the coordinate system built by itself in the work area.
  • the current position information when the alarm signal is sent from the mobile device 100 is sent to the user terminal.
  • the self-mobile device 100 may send the acquired current location information at the time of the alarm signal to the user terminal through the communication module, so that the user can timely understand the current location of the self-mobile device 100 and take corresponding measures.
  • the current position information when the alarm signal is sent from the mobile device 100 and the abnormal working information from the mobile device 100 may be sent to the user terminal in time-sharing, or may be packaged and sent to the user terminal together.
  • the abnormal working information includes, but is not limited to, one or more types of information that the device is lifted, the device is far from the working boundary line, and the device is in continuous collision.
  • the user can learn the specific content of the abnormal information for the first time, instead of just hearing a single siren sound, which can help the user to take appropriate countermeasures in time to avoid self-moving
  • the device 100 has serious consequences such as loss and damage.

Abstract

提供了一种报警模块和自移动设备和报警模块的报警方法。其中，自移动设备的报警模块包括：检测模块，用于检测自移动设备的异常运动状态；控制模块（230），与所述检测模块电连接，用于至少部分的根据所述自移动设备的异常运动状态判断是否满足预设报警触发条件；发声部，当控制模块（230）判断自移动设备的异常运动状态满足预设报警触发条件时，控制发声部发出报警信号；其特征在于，所述报警模块包括能量模块（210），为报警模块提供能量来源；所述报警模块还还包括连接部，所述报警模块能够通过连接部可拆卸的安装于自移动设备。上述报警模块和自移动设备和报警模块的报警方法，可以将自移动设备的异常工作信息及时的告知用户，避免了自移动设备丢失、损坏等严重后果的产生。

Description

自移动设备、自移动设备的报警模块及其报警方法
本申请要求了申请日为2018年11月13日，申请号为201811343578.1的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及报警技术领域，特别是涉及一种自移动设备、自移动设备的报警模块及其报警方法。
背景技术
随着科学技术的发展，智能的自动行走设备逐渐被人们所熟知，并且得到了越来越广泛的应用。以智能割草机为例，智能割草机通常在一定的工作区域内自动行走和工作，当智能割草机发生被盗、被困等异常状况时，用户时常因为无法及时了解到异常状况的发生而导致智能割草机出现丢失、损坏等严重后果。
传统的智能割草机每当出现一些异常情况时，会发出一些报警信号，但是通常这些报警信号形式单一且不容易被察觉，这会导致用户无法及时了解异常状态发生的时间点和原因，从而导致严重后果的产生。
发明内容
基于此，有必要针对上述问题，提供一种可以使用户及时了解自移动设备异常信息的可拆卸的报警模块以及安装其的自移动设备以及报警模块的报警方法。
为解决上述问题，本发明的技术方案是：一种自移动设备的报警模块，包括：检测模块，用于检测自移动设备的异常运动状态；控制模块，与所述检测 模块电连接，用于至少部分的根据所述自移动设备的异常运动状态判断是否满足预设报警触发条件；发声部，当控制模块判断自移动设备的异常运动状态满足预设报警触发条件时，控制发声部发出报警信号；其特征在于，所述报警模块包括能量模块，为报警模块提供能量来源；所述报警模块还还包括连接部，所述报警模块能够通过连接部可拆卸的安装于自移动设备。
进一步的，所述报警模块还包括放大模块，所述放大模块能够对能量模块的输出电压进行放大，从而为发声部提供放大后的电压。
进一步的，所述检测模块具有第一检测模式和第二检测模式，当自移动设备处于开机状态时，检测模块工作于第一检测模式；当自移动设备处于关机状态时，检测模块工作于第二检测模式。
进一步的，所述第一检测模式下，检测模块被配置为：检测自移动设备抬起和/或倾斜和检测自移动设备相对于工作区域的位置；所述第二检测模式下，检测模块被配置为：检测自移动设备抬起和/或倾斜。
进一步的，所述检测模块包括：加速度传感器和/或陀螺仪和/或霍尔传感器，用于检测自移动设备抬起和/或倾斜。
进一步的，所述检测模块包括：边界线传感器和/或卫星定位模块，用于检测自移动设备相对于工作区域的位置。
进一步的，所述控制模块被配置为：判断自移动设备被抬起，和/或判断自移动设备倾斜角度大于或等于第一预设阈值，和/或判断自移动设备位于工作区域之外，和/或判断自移动设备预设时间内倾斜次数大于或等于第二阈值。
进一步的，所述控制模块被配置为：监测发声部持续工作时长达到第三预设阈值，和/或发声部接收到关闭信号时控制发声部停止工作。
进一步的，所述报警模块还包括报警信号存储单元，所述报警信号存储单 元与所述控制模块电连接，用于存储报警信号播放内容。
进一步的，所述报警模块还包括：噪声检测单元，用于检测周围工作环境的噪声分贝值；音量调节单元，与所述噪声检测单元和所述控制模块电连接，用于根据所述周围工作环境的噪声分贝值和预设噪声值，调节报警信号播放音量。
一种自移动设备，在工作区域内移动及工作，所述自移动设备包括：主体；安装部，以上所述的报警模块能够通过所述连接部与所述安装部配合，使得所述报警模块可拆卸的安装于自移动设备。
进一步的，所述自移动设备包括通信模块，能够将自移动设备的异常运动状态信息传递给远程设备。
一种报警模块的报警方法，应用于以上所述的报警模块，其特征在于，所述方法包括：将报警模块以可拆卸的方式安装于自移动设备；检测自移动设备的异常运动状态；判断自移动设备的异常运动状态是否满足预设报警触发条件；报警模块自身提供能量来源；判断自移动设备的异常运动状态满足预设报警触发条件时，发出报警信号。
进一步的，所述方法包括：对能量模块的输出电压进行放大，从而为发声部提供放大后的电压。
进一步的，所述检测自移动设备的异常运动状态包括：当自移动设备处于开机状态时，检测模式以第一模式检测自移动设备的异常运动状态；当自移动设备处于关机状态时，检测模式以第二模式检测自移动设备的异常运动状态。
进一步的，所述检测模式以第一模式检测自移动设备的异常运动状态包括：检测自移动设备抬起和/或倾斜和检测自移动设备相对于工作区域的位置；所述检测模式以第二模式检测自移动设备的异常运动状态包括：检测自移动设备抬 起和/或倾斜。
进一步的，所述检测自移动设备抬起和/或倾斜包括：通过加速度传感器和/或陀螺仪和/或霍尔传感器检测自移动设备抬起和/或倾斜。
进一步的，所述检测自移动设备相对于工作区域的位置包括：通过边界线传感器和/或卫星定位模块检测自移动设备相对于工作区域的位置。
进一步的，所述判断自移动设备的状态是否满足预设报警触发条件包括：判断自移动设备被抬起，和/或判断自移动设备倾斜角度大于或等于第一预设阈值，和/或判断自移动设备位于工作区域之外，和/或判断自移动设备预设时间内倾斜次数大于或等于第二预设阈值。
进一步的，所述报警方法还包括：监测发声部持续工作时长达到第三预设阈值，和/或发声部接收到关闭信号时停止报警。
进一步的，所述报警方法还包括：预先存储报警信号播放内容，报警时播放所述预先存储的报警信号播放内容。
进一步的，所述报警方法还包括：检测周围工作环境的噪声分贝值；根据所述周围工作环境的噪声分贝值，调节报警信号的音量。
上述报警模块和自移动设备和报警方法，通过设置可拆卸的报警模块，使得自移动设备能够可选择的安装报警模块，以提升自移动设备的警示效果；以及，报警模块能够自行检测是否触发报警条件并发出报警声，因而能够独立工作且能够选择性的安装于有需求的自移动设备上，对自移动设备的报警效果进行优化。同时，该报警模块采用放大模块，使得发声部能够发出较大的音量，用户能够及时的发现自移动设备的异常运动信息，然后通过通信模块将异常运动信息及时的告知用户，使用户可以第一时间了解异常运动状态发生的情况，从而避免了自移动设备丢失、损坏等严重后果的产生。
附图说明
图1为一个实施例中自移动设备的工作示意图；
图2为一个实施例中的报警模块的示意图
图3为一个实施例中报警模块的模块示意图；
图4为一个实施例中的自移动设备安装报警模块的示意图
图5为一个实施例中的自移动设备与报警模块分离的示意图
图6为一个实施例中的报警模块的报警方法的流程示意图
图7为一个实施例中的报警模块的报警方法的流程示意图
图8为一个实施例中的报警模块的报警方法的流程示意图
具体实施方式
为了使本申请的目的、技术方案及优点更加清楚明自，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
需要说明的是，当元件被称为“设置于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的，并不表示是唯一的实施方式。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本申请。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
在一个实施例中，提供了一种用于自移动设备的报警模块200。在本实施例中，参图1，自移动设备100在由界限限定的工作区域内移动并工作，其中，自移动设备100可以是智能割草机、智能除雪机或扫地机器人等可以自动行走的设备；工作区域的界限可以由边界线形成，也可以不铺设边界线，使用边界定位信息等形成虚拟的边界；自移动设备100也可以利用摄像头、电容草地识别传感器、边界线传感器、卫星定位模块等来识别工作区域的界限。
在本实施例中，提供了一种报警模块200，参图2-图3，该报警模块200包括：检测模块，用于检测自移动设备100的异常运动状态；控制模块，与所述检测模块250电连接，用于根据所述自移动设备100的异常运动状态判断是否满足预设报警触发条件；发声部240，当控制模块230判断自移动设备100的异常运动状态满足预设报警触发条件时，控制发声部240发出报警信号；所述报警模块200还包括能量模块210，为报警模块200提供能量来源；连接部260，所述报警模块200能够通过连接部260可拆卸的安装于自移动设备100。具体的，所述自移动设备100在工作区域内移动并执行工作，所述异常运动状态为，自移动设备100移动至工作区域外部，或自移动设备100被抬起，或自移动设备100被倾斜，具体的，当判断自移动设备100倾斜为异常运动状态时，自移动设备100倾斜需达到一定的阈值。具体的，所述发声部240包括蜂鸣器或扬声器，蜂鸣器能够发出蜂鸣声，扬声器能够发出语音播报。具体的，检测模块250包括多种传感器，例如加速度传感器、陀螺仪、边界线传感器，或者，检测模块250包括卫星定位模块，或者，检测模块250包括获取模块，能够获取自移动设备100的检测结果。具体的，控制模块230包括MCU，用于处理信息输入，并输出控制信号。具体的，报警模块200的能量模块210为电池，所述电池内置于报警模块200内部，为报警模块200提供工作所需能量。具体的，报警模块200 内置的电池能够给报警模块200提供能量，当报警模块200安装于自移动设备100时，自移动设备100也能够为报警模块200提供能量，仅使用报警模块200内置的电池为报警模块200提供能量，或者，报警模块200的电池仅在不能够从外界获取能量时作为备用的电源为报警模块200提供能量。参图4-图5，报警模块200包括连接部260，报警模块200通过连接部260可拆卸的安装于自移动设备100，具体的，连接部260为凹槽，报警模块200通过该凹槽将报警模块200插接至自移动设备100，通过设置该连接部260，使得该报警模块200能够方便的安装于自移动设备100，或者也能够方便的从自移动设备100移除，可以根据需求确定是否为自移动设备100安装报警模块200。具体的，该报警模块200还包括壳体270，以上所述的所有部件均设置于壳体270内部或者表面，使得报警模块200为单独的配件，能够单独出售。
在本实施例中，报警模块200还包括放大模块220，所述放大模块220能够对能量模块210的输出电压进行放大，从而为发声部240提供放大后的电压。具体的，要使得报警模块200能够发出较大的声音，本实施例中配置了较大功率的蜂鸣器，并为其提供较大的输入电压，具体的，为了向发声部240提供较大的电压，通过放大模块220对电池输出的电压进行放大，获得放大后的电压并将其提供给发声部240，使得发声部240能够获得较大的电压从而能够发出较大的报警声音。具体的，放大模块220包括升压电路，通过升压电路将能量模块210的输出电压增大，以使得发声部240能够获得较大的输出电压，具体的，升压电路包括Boost电路。具体的，放大后的电压为90-150V，具体的，距离发生源1米处测量发声部240发出的报警信号音量大小为60-115分贝，在该音量的报警信号下，用户更容易听到自移动设备100发出的报警信号，并及时作出处理。在其他的实施例中，报警模块200也可以不包括放大模块220，具体的， 可以直接给发声部240提供较大的输入电压，例如，通过自移动设备100提供较大的电压或者通过报警模块200的电池提供较大的电压。
在本实施例中，检测模块250具有第一检测模式和第二检测模式，当自移动设备100处于开机状态时，检测模块250工作于第一检测模式；当自移动设备100处于关机状态时，检测模块250工作于第二检测模式。具体的，第一检测模式下，检测模块250被配置为：检测自移动设备100抬起和/或倾斜和检测自移动设备100相对于工作区域的位置；所述第二检测模式下，检测模块250被配置为：检测自移动设备100抬起和/或倾斜。具体的，所述检测模块250包括：加速度传感器和/或陀螺仪和/或霍尔传感器，用于检测自移动设备100抬起和/或倾斜，以及，所述检测模块250包括：边界线传感器和/或卫星定位模块，用于检测自移动设备100相对于工作区域的位置。在本实施例中，控制模块230被配置为：判断自移动设备100被抬起，和/或判断自移动设备100倾斜角度大于或等于第一预设阈值，和/或判断自移动设备100位于工作区域之外，和/或判断自移动设备100预设时间内倾斜次数大于或等于第二阈值。所述控制模块230还被配置为：监测发声部240持续工作时长达到第三预设阈值，和/或发声部240接收到关闭信号时控制发声部240停止工作。具体的，检测模块250能够检测自移动设备100的抬起和/或倾斜，以及检测自移动设备100相对于工作区域的位置，具体的，报警模块200包括检测模块250，通过报警模块200的检测模块250检测自移动设备100的抬起、倾斜以及自移动设备100相对于工作区域的位置，具体的，检测模块250也可以通过检测来自于自移动设备100的检测信息以确定自移动设备100的状态，具体的，检测模块250包括抬起检测传感器，例如霍尔传感器，检测自移动设备100是否被抬起；检测模块250包括加速度传感器，和/或陀螺仪，用于检测自移动设备100发生倾斜的角度， 加速度传感器和陀螺仪可以分别用于检测自移动设备100的倾斜或者加速度传感器和陀螺仪能够结合用于检测自移动设备100的倾斜，当两者结合来检测自移动设备100的倾斜时，检测角度的准确性较高。具体的，自移动设备100包括抬起检测、倾斜检测、自移动设备100相对于工作区域的位置检测等传感器，报警模块200的检测模块250能够检测到自移动设备100的检测结果，并获取自移动设备100的检测结果，以待控制模块230对该结果进行判断及处理。具体的，检测模块250包括边界线传感器检测相对于工作区域的位置，具体的，边界线传感器包括磁感应传感器，用于检测边界线中的电流产生的磁场以判断自移动设备100相对于工作区域的位置；具体的，检测模块250包括卫星定位模块，例如GPS定位模块，自移动设备100开始工作前获取工作区域边界的定位信息，并通过该定位信息生成虚拟边界线，当自移动设备100工作过程中，获取其定位信息，得到其相对于工作区域的位置。具体的，检测模块250也可以检测自移动设备100自身所确定的位置信息，通过该信息得到自移动设备100相对于工作区域的位置。具体的，控制模块230被配置为判断自移动设备100被抬起，和/或判断自移动设备100倾斜角度大于或等于第一预设阈值，具体的，第一预设阈值为45度至90度，优选的，检测倾斜角度大于或等于60度，具体的，自移动设备100，例如智能割草机，在执行工作过程中，可能会处理斜坡等场景，智能割草机处理的斜坡通常小于45度，因此，45度以上的倾斜角度很可能是智能割草机处于异常运动状态，例如，被人为拎起来，在这种情况下，发声部240需要发出报警信号以提醒用户，以防止机器被盗。控制模块230被配置为判断自移动设备100预设时间内倾斜次数大于或等于第二预设阈值，具体的，第二预设阈值为3-6次，优选的，设置第二预设阈值为4次，检测一分钟内自移动设备100被抬起的次数大于或等于4次时，确认满足预设报警条件。
具体的，霍尔传感器是一种根据霍尔效应制作的磁场传感器，一般来说，霍尔传感器是和一个磁性物体成对设置的，具体的，霍尔传感器是和该磁性物体可以分别设置在自移动设备100的外壳表面和外壳内部，当自移动设备100被抬起时，霍尔传感器可以敏锐的检测到霍尔传感器和磁性物体之间的距离变化，从而检测出设备被抬起的异常状态；抬起检测传感器是一种接触式传感器，它可以检测出设备被触摸或抬起的异常状态；边界线传感器是一种用于识别边界线信号的传感器，它可以区分出自移动设备100当前所处的位置是边界线内还是边界线外，从而可以检测出自移动设备100远离工作边界线的异常状态；卫星定位模块可以通过工作区域内的坐标信息来识别自移动设备100的当前位置信息，从而检测出自移动设备100远离工作区域的异常运动状态。
控制模块230还被用于满足预设条件时，控制发声部240停止工作，具体的，所述控制模块230被配置为：监测发声部240持续工作时长达到第三预设阈值，和/或发声部240接收到关闭信号时控制发声部240停止工作。具体的，自移动设备100开机状态下，控制模块230监测发声部240持续报警超过1分钟，控制发声部240停止工作，具体的，自移动设备100关机状态下，控制模块230监测发声部240持续报警超过1分钟，控制发声部240停止报警；自移动设备100关机状态下，控制模块230监测发声部240持续报警超过30秒，控制发声部240停止报警。
在一个实施例中，报警模块200还包括报警信号存储单元，其中，报警信号存储单元与控制模块230电连接，用于存储报警信号播放内容。具体的，控制模块230可以根据异常运动状态信息的内容选择存储在报警信号存储单元内的报警信号播放内容，然后将选定的报警信号播放内容通过报警模块200处理后播放出来，以发出报警信号。在本实施例中，存储在报警信号存储单元中的 报警信号播放内容可以为规则的警笛信号内容，可以为中文、英文或其他语言的语音报警内容。
在一个实施例中，报警模块200还包括噪声检测单元和音量调节单元。其中，噪声检测单元和音量调节单元电连接，音量调节单元与控制模块230电连接。具体的，噪声检测单元可以在发出报警信号之前检测周围工作环境中的噪声分贝值，并将检测到的噪声分贝值反馈给音量调节单元，音量调节单元可以根据该噪声分贝值和预设在音量调节单元内的预设噪声值进行比较，并根据检测到的噪声分贝值来自动调节语音的播放音量，进一步的，控制模块230可以根据异常工作信息的内容选择存储在语音存储单元内的报警信号播放内容，然后将选定的报警信号播放内容通过语音放大器和声音发生装置进行播放，以发出报警信号。在本实施例中，声音发生装置发出的报警信号音量在65-110分贝之间。
具体的，本发明还提供一种自移动设备100，例如智能割草机，参图3，智能割草机包括安装部130，前述的报警模块200能够通过所述连接部260与所述安装部130配合，使得所述报警模块200可拆卸的安装于自移动设备100。具体的，自移动设备100包括壳体120、驱动模块、行走模块110，以及通信模块，其中，通信模块150安装于壳体120的内部，具体的，当智能割草机确定处于异常运动状态时，报警模块200发出报警信号，同时，通信模块可以将自移动设备100的异常运动状态信息发送给用户端，使用户及时获知自移动设备100的运动状态并及时采取相应措施。在本实施例中，通信模块可以为无线通信模块，例如WIFI模块、移动通信模块或是其他可以与用户端设备进行无线通信的模块。
自移动设备100包括控制器，控制器能够处理自移动设备100接收的各种 信息并执行相应的控制功能。在一个实施例中，自移动设备100还包括定位模块，其中，定位模块与控制器电连接。具体的，定位模块可以实时接收定位信号，并获取自移动设备100当前所处位置的坐标或多个坐标组成的坐标区域。当自移动设备100的检测模块250检测到自移动设备100发生异常状况时，定位模块可以将发出报警信号时的当前位置信息发送给控制器，控制器在获取到该定位信息后，可以将这一定位信息保存下来，并将该定位信息通过通信模块发送给用户端，使用户可以在第一时间内知晓自移动设备100发生异常状况时的具体位置。进一步的，控制器还可以根据该定位信息自动判断自移动设备100当前所处的地区，进而确认该地区的官方语言，并根据该地区的官方语言和异常工作信息的内容选择存储在语音存储单元内的语音播放内容，从而实现报警语言的自动转换。
在一个实施例中，定位模块可以是卫星定位模块，具体的，定位模块包括GPS定位模块、高精度GPS定位模块、UWB定位模块、惯性导航模块和电子地图等形式。在本实施例中，定位模块可以通过工作区域内的坐标信息来识别自移动设备100发出报警信号时的当前位置信息。其中，坐标信息可以是卫星定位系统分配的反映物体在地球上的绝对坐标值，也可以是自行构建在工作区域中的坐标系的相对坐标值。
在一个实施例中，提供了一种自移动设备100的报警方法，参图6，以该方法应用于图2中的报警模块200为例进行说明，包括以下步骤：
S1：将报警模块200以可拆卸的方式安装于自移动设备100；
具体的，报警模块200包括连接部260，自移动设备100包括安装部130，将该安装部130和连接部260配合使得报警模块200可拆卸的安装于自移动设备100。具体的，连接部260为凹槽结构，报警模块200和自移动设备100的配 接结构为插拔结构。具体的，报警模块200安装于自移动设备100时，报警模块200和自移动设备100电导通，具体的，安装部130和连接部260分别包括线路，两者连通可进行信息交互，具体的，当自移动设备100的检测信息可以通过该线路传输给报警模块，报警模块可以至少部分的根据该信息判断是否发出报警信号，以及，报警模块的检测信息也可以传输给自移动设备，自移动设备可以综合考虑自身的检测信息和报警模块的检测信息以判断是否执行相应操作。
S2：检测自移动设备100的异常运动状态；
具体的，自移动设备100可以通过检测模块250实时检测自移动设备100的工作状态，自移动设备100的工作状态包括正常状态和异常运动状态，其中，自移动设备100异常状态包括但不限于以下情况：自移动设备100被抬起、自移动设备100位于工作区域外部、自移动设备100倾斜。具体的，检测自移动设备100的异常运动状态可以通过自移动装载的检测装置完成，报警模块200检测该自移动设备100所检测到的信息；或者，自移动设备100的异常运动状态通过报警模块200的检测装置完成。
S3：判断自移动设备100的异常运动状态是否满足预设报警触发条件；
具体的，控制模块230处理检测到的异常运动状态，判断其是否满足预设的报警触发条件。具体的，控制模块230为MCU，其内置有预设的报警触发条件，将当前检测到的异常运动状态与预设的报警触发条件比对以判断是否满足预设的报警触发条件。
S4：报警模块200自身提供能量来源；
具体的，报警模块200包括能量模块210，报警模块200的能量模块210为电池，所述电池内置于报警模块200内部，为报警模块200提供工作所需能量。 具体的，报警模块200内置的电池能够给报警模块200提供能量，当报警模块200安装于自移动设备100时，自移动设备100也能够为报警模块200提供能量，仅使用报警模块200内置的电池为报警模块200提供能量，或者，报警模块200的电池仅在不能够从外界获取能量时作为备用的电源为报警模块200提供能量。
S5：判断自移动设备100的异常运动状态满足预设报警触发条件时，发出报警信号。
具体的，控制模块230处理异常运动状态信息，当判断为其满足预设报警触发条件时，控制发声部240发出报警信号。
上述报警方法，首先通过检测模块250实时检测自移动设备100的异常运动状态信息，使控制模块230能够及时的发现自移动设备100的异常运动状态信息，然后将异常运动状态信息及时的告知用户，使用户可以第一时间了解异常运动状态发生的时间点和原因，从而避免了自移动设备100丢失、损坏等严重后果的产生。
在一个实施例中，报警方法还可以包括以下步骤：
将自移动设备100的异常运动状态信息发送给用户端。
具体的，自移动设备100在发出报警信号的同时，可以将生成的异常运动状态信息通过通信模块发送给用户端，使用户及时获知自移动设备100的异常运动状态并及时采取相应措施。其中，通信模块可以为无线通信模块，例如WIFI模块、移动通信模块或是其他可以与用户端设备进行无线通信的模块。
在一个实施例中，根据自移动设备100的异常运动状态信息发出65-110分贝的报警信号，包括以下步骤：根据自移动设备100的异常运动信息，确定报警信号播放内容。具体的，根据控制模块230生成的异常运动状态信息，从语音存储单元中选择适当的语音播放内容，然后将选定的报警信号播放内容通过 放大处理后通过发声部240播放出来，以发出65-110分贝的报警信号。在本实施例中，存储在报警信号存储单元中的报警信号播放内容可以为规则的警笛信号内容，可以为中文、英文或其他语言的语音报警内容。或者，根据自移动设备100的异常运动状态，确定需要发出报警信号时，通过放大模块220进行电压的放大，使得发声部240发出声音较大的报警蜂鸣信号。
在一个实施例中，参图7，报警方法还可以包括如下步骤：
S6：监测发声部持续工作时长达到第三预设阈值，和/或发声部接收到关闭信号时停止报警。
具体的，发声部开始发出报警信号时，监测发声部持续工作的时长，同时，监测是否接收到关闭信号，当工作时长满足第三预设阈值时关闭报警信号，或者，当发声部接收到关闭信号时停止报警，或者，当工作时长满足第三预设阈值条件且发声部接收到关闭信号时停止报警。具体的，用户可以通过远程设备，例如智能手机、平板电脑、手提电脑等发送关闭信号。
在一个实施例中，参图8，报警方法还可以包括以下步骤：
S7：检测周围工作环境的噪声分贝值。
具体的，自移动设备100可以通过噪声检测单元检测周围工作环境中的噪声分贝值。其中，噪声分贝值的检测可以是实时的，也可以是根据控制模块230发出的控制信号决定的。
S8：根据周围工作环境的噪声分贝值和预设噪声值，调节报警信号播放音量。
具体的，自移动设备100的音量调节单元可以根据噪声检测单元检测到的噪声分贝值和预设在音量调节单元内的预设噪声值进行比较，并根据噪声的等级来自动调节报警信号的播放音量，其中，报警信号的播放音量在65-110分贝 之间。
在一个实施例中，报警方法还可以包括以下步骤：
获取自移动设备100的解锁密码。
具体的，用户可以通过用户端将解锁密码发送到自移动设备100上或者通过操作界面在自移动设备100上直接手动输入解锁密码。
将获取到的解锁密码与预设的解锁密码进行对比。
具体的，自移动设备100可以将获取到的解锁密码与预存在自移动设备100中的解锁密码进行对比，以确定获取到的解锁密码是否为与预设的解锁密码一致。
根据对比结果控制报警信号的工作状态。
具体的，若确定获取到的解锁密码与预设的解锁密码一致，则用户可以直接控制报警信号的工作状态，即控制报警信号停止或持续，这一设置可以使自移动设备100的安全更有保障。
在一个实施例中，自移动设备100的报警方法还可以包括以下步骤：
接收用户端返回的控制信息。
具体的，自移动设备100的通信模块可以实时接收用户端发送的控制信息，也可以在自移动设备100发出的异常工作信息的一段时间内接收用户端返回的控制信息。
根据用户端返回的控制信息，控制自移动设备100进行报警信号播放音量调节、改变报警信号播放内容、改变报警信号播放语言、关闭报警信号播放中的一种或多种操作。
具体的，用户端返回的控制信息包括但不限于调节报警信号播放音量、改变报警信号播放内容、改变报警信号播放语言、关闭报警信号播放等内容，进 一步的，控制模块230在接收到用户端发送的控制信息后，会根据控制信息的内容进行相应的操作，以实现自移动设备100的远程控制。
在一个实施例中，，报警方法还可以包括以下步骤：
获取自移动设备100发出报警信号时的当前位置信息。
具体的，自移动设备100可以通过定位模块获取到其发出报警信号时的当前位置信息，其中，定位模块可以是GPS模块、DGPS模块、UWB模块、惯性导航模块和电子地图中的一种或多种，当前位置信息可以是卫星定位系统分配的反映物体在地球上的绝对坐标值，也可以是自行构建在工作区域中的坐标系的相对坐标值。
将自移动设备100发出报警信号时的当前位置信息发送给用户端。
具体的，自移动设备100可以通过通信模块将获取到的发出报警信号时的当前位置信息发送给用户端，以使用户及时的了解自移动设备100当前所处的位置并采取相应措施。其中，自移动设备100发出报警信号时的当前位置信息和自移动设备100的异常工作信息可以分时发送给用户端，也可以打包一起发送给用户端。
在一个实施例中，异常工作信息包括但不限于设备被抬起、设备远离工作边界线、设备发生连续碰撞中的一种或多种信息。具体的，当设备发生上述异常状况时，用户可以第一时间了解到异常信息的具体内容，而不是仅仅听到单一的警笛声音，这可以有利于用户及时采取合适的应对措施，从而避免自移动设备100发生丢失和损坏等严重后果。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (22)

  1. 一种白移动设备的报警模块，包括：
    检测模块，用于检测白移动设备的异常运动状态；
    控制模块，与所述检测模块电连接，用于至少部分的根据所述白移动设备的异常运动状态判断是否满足预设报警触发条件；
    发声部，当控制模块判断白移动设备的异常运动状态满足预设报警触发条件时，控制发声部发出报警信号；
    其特征在于，所述报警模块包括能量模块，为报警模块提供能量来源；
    所述报警模块还还包括连接部，所述报警模块能够通过连接部可拆卸的安装于白移动设备。
  2. 根据权利要求1所述的报警模块，其特征在于，所述报警模块还包括放大模块，所述放大模块能够对能量模块的输出电压进行放大，从而为发声部提供放大后的电压。
  3. 根据权利要求1所述的报警模块，其特征在于，所述检测模块具有第一检测模式和第二检测模式，当白移动设备处于开机状态时，检测模块工作于第一检测模式；当白移动设备处于关机状态时，检测模块工作于第二检测模式。
  4. 根据权利要求3所述的报警模块，其特征在于，所述第一检测模式下，检测模块被配置为：检测白移动设备抬起和/或倾斜和检测白移动设备相对于工作区域的位置；所述第二检测模式下，检测模块被配置为：检测白移动设备抬起和/或倾斜。
  5. 根据权利要求4所述的报警模块，其特征在于，所述检测模块包括：加速度传感器和/或陀螺仪和/或霍尔传感器，用于检测白移动设备抬起和/或倾斜。
  6. 根据权利要求4所述的报警模块，其特征在于，所述检测模块包括：边 界线传感器和/或卫星定位模块，用于检测白移动设备相对于工作区域的位置。
  7. 根据权利要求4所述的报警模块，其特征在于，所述控制模块被配置为：判断白移动设备被抬起，和/或判断白移动设备倾斜角度大于或等于第一预设阈值，和/或判断白移动设备位于工作区域之外，和/或判断白移动设备预设时间内倾斜次数大于或等于第二阈值。
  8. 根据权利要求1所述的报警模块，其特征在于，所述控制模块被配置为：监测发声部持续工作时长达到第三预设阈值，和/或发声部接收到关闭信号时控制发声部停止工作。
  9. 根据权利要求1所述的报警模块，其特征在于，所述报警模块还包括报警信号存储单元，所述报警信号存储单元与所述控制模块电连接，用于存储报警信号播放内容。
  10. 根据权利要求1所述的报警模块，其特征在于，所述报警模块还包括：
    噪声检测单元，用于检测周围工作环境的噪声分贝值；
    音量调节单元，与所述噪声检测单元和所述控制模块电连接，用于根据所述周围工作环境的噪声分贝值和预设噪声值，调节报警信号播放音量。
  11. 一种白移动设备，在工作区域内移动及工作，所述白移动设备包括：
    主体；
    安装部，权利要求1-10中任一所述的报警模块能够通过所述连接部与所述安装部配合，使得所述报警模块可拆卸的安装于白移动设备。
  12. 根据权利要求11所述的白移动设备，其特征在于，所述白移动设备包括通信模块，能够将白移动设备的异常运动状态信息传递给远程设备。
  13. 一种报警模块的报警方法，应用于权利要求1-10中任一项所述的报警模块，其特征在于，所述方法包括：
    将报警模块以可拆卸的方式安装于白移动设备；
    检测白移动设备的异常运动状态；
    判断白移动设备的异常运动状态是否满足预设报警触发条件；
    报警模块自身提供能量来源；
    判断白移动设备的异常运动状态满足预设报警触发条件时，发出报警信号。
  14. 根据权利要求13所述的报警方法，其特征在于，所述方法包括：对能量模块的输出电压进行放大，从而为发声部提供放大后的电压。
  15. 根据权利要求13所述的报警方法，其特征在于，所述检测白移动设备的异常运动状态包括：当白移动设备处于开机状态时，检测模式以第一模式检测白移动设备的异常运动状态；当白移动设备处于关机状态时，检测模式以第二模式检测白移动设备的异常运动状态。
  16. 根据权利要求15所述的报警方法，其特征在于，所述检测模式以第一模式检测白移动设备的异常运动状态包括：检测白移动设备抬起和/或倾斜和检测白移动设备相对于工作区域的位置；所述检测模式以第二模式检测白移动设备的异常运动状态包括：检测白移动设备抬起和/或倾斜。
  17. 根据权利要求15所述的报警方法，其特征在于，所述检测白移动设备抬起和/或倾斜包括：通过加速度传感器和/或陀螺仪和/或霍尔传感器检测白移动设备抬起和/或倾斜。
  18. 根据权利要求15所述的报警方法，其特征在于，所述检测白移动设备相对于工作区域的位置包括：通过边界线传感器和/或卫星定位模块检测白移动设备相对于工作区域的位置。
  19. 根据权利要求15所述的报警方法，其特征在于，所述判断白移动设备的状态是否满足预设报警触发条件包括：判断白移动设备被抬起，和/或判断白 移动设备倾斜角度大于或等于第一预设阈值，和/或判断白移动设备位于工作区域之外，和/或判断白移动设备预设时间内倾斜次数大于或等于第二预设阈值。
  20. 根据权利要求13所述的报警方法，其特征在于，所述报警方法还包括：监测发声部持续工作时长达到第三预设阈值，和/或发声部接收到关闭信号时停止报警。
  21. 根据权利要求13所述的报警方法，其特征在于，所述报警方法还包括：预先存储报警信号播放内容，报警时播放所述预先存储的报警信号播放内容。
  22. 根据权利要求13所述的报警方法，其特征在于，所述报警方法还包括：检测周围工作环境的噪声分贝值；根据所述周围工作环境的噪声分贝值，调节报警信号的音量。
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CN114873190A (zh) * 2022-05-11 2022-08-09 河北白沙烟草有限责任公司 一种用于烟丝入柜的防差错监控装置及方法
CN114873190B (zh) * 2022-05-11 2024-05-07 河北白沙烟草有限责任公司 一种用于烟丝入柜的防差错监控装置及方法
CN115117813A (zh) * 2022-07-29 2022-09-27 惠州市三民实业有限公司 一种可监测线缆位移的智能桥架与监测方法

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